Utility locator apparatus, systems, and methods

ABSTRACT

Man-portable locator systems for locating buried or otherwise inaccessible pipes, conduits, cables, wires, and/or inserted transmitters using magnetic field antenna arrays and signal processing to analyze and display information about multiple buried utilities simultaneously are disclosed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of and claims priority to co-pendingU.S. Utility patent application Ser. No. 14/321,699, entitled UTILITYLOCATOR APPARATUS, SYSTEMS, AND METHODS, filed Jul. 1, 2014, which is acontinuation of and claims priority to U.S. Utility patent applicationSer. No. 13/108,916, now U.S. Pat. No. 8,773,133, entitled ADAPTIVEMULTICHANNEL LOCATOR SYSTEM FOR MULTIPLE PROXIMITY DETECTION, filed May16, 2011, which is a continuation of and claims priority to U.S. Utilitypatent application Ser. No. 12/785,826, now U.S. Pat. No. 7,948,236,entitled ADAPTIVE MULTICHANNEL LOCATOR SYSTEM FOR MULTIPLE PROXIMITYDETECTION, filed May 24, 2010, which is a continuation of and claimspriority to U.S. Utility patent application Ser. No. 11/854,694, nowU.S. Pat. No. 7,741,848, entitled ADAPTIVE MULTICHANNEL LOCATOR SYSTEMFOR MULTIPLE PROXIMITY DETECTION, filed Sep. 13, 2007 which claimspriority under 35 U.S.C. § 119(e) to U.S. Provisional Patent ApplicationSer. No. 60/826,064, filed Sep. 18, 2006, entitled MULTICHANNEL LOCATORWITH MULTIPLE PROXIMITY DETECTION. This application claims priority toeach of the above-described applications. The content of each of theabove-described applications is incorporated by reference herein in itsentirety for all purposes.

FIELD

This disclosure relates generally to electronic systems and methods forlocating buried or otherwise inaccessible pipes and other conduits,cables, conductors and self-contained transmitters. More specifically,but not exclusively, the disclosure relates to portable locators foroperation in a multiple signal environment.

BACKGROUND

There are many situations where is it desirable to locate buriedutilities such as pipes and cables. For example, before starting any newconstruction involving excavation, it is important to locate existingunderground utilities such as underground power-lines, gas lines, phonelines, fiber optic cable conduits, CATV cables, sprinkler controlwiring, water pipes, sewer pipes, etc., collectively and individuallyreferred to hereinafter as “utilities” or “objects.” As used herein theterm “buried” refers not only to objects below the surface of theground, but in addition, to objects located inside walls, between floorsin multi-story buildings or cast into concrete slabs, etc. If a backhoeor other excavation equipment hits a high voltage line or a gas line,serious injury and property damage may result. Severing water mains andsewer lines leads to messy cleanups. The destruction of power and datalines may seriously disrupt the comfort and convenience of residents andcost businesses huge financial losses.

Buried objects may be located, for example, by sensing an alternatingcurrent (AC) electromagnetic signal emitted by the same. Some cablessuch as power-lines are already energized and emit their own longcylindrical electromagnetic field. Location of other conductive linesmay be facilitated by energizing the line sought with an outsideelectrical source having a frequency typically in the region ofapproximately 50 Hz to 500 kHz. Location of buried long conductors isoften referred to in the art as “line tracing,” a term that is so usedherein.

A “sonde” (also referenced in the art as a “transmitter,” “beacon” or“duct probe,” for example) is a term used herein to denominate a signaltransmitter apparatus that typically includes a coil of wire wrappedaround a ferromagnetic core. The coil is energized with a standardelectrical source at a desired frequency, typically in the frequencyregion of approximately 50 Hz to 500 kHz. The sonde may be attached to apush cable or line or it may be self-contained so that it may be flushedthrough a pipe with water. A sonde typically generates a dipoleelectromagnetic field, which is more complex than the long cylindricalpattern produced by an energized line. However, a sonde may be localizedto a single point. A typical low frequency sonde does not stronglycouple to other objects and thereby avoids the production of complexinterfering field patterns that may occur during the tracing. The term“buried objects” is used herein in a general sense and includes, forexample, sondes and buried locatable markers such as marker balls.

When locating buried objects before excavation, it is also verydesirable to determine the depth of the buried objects. This may be doneby measuring the difference in field strength at two locations. Althoughvarious methods of determining depth of buried conductors arewell-established in the art, it is also well-known that existing methodsmay produce variable and therefore unreliable results leading topotentially dangerous errors in depth estimation when operating in thepresence of complex or distorted electromagnetic fields.

Portable locators that heretofore have been developed offer limitedfunctionality insufficient for quickly and accurately locating buriedutilities. Accordingly, there is still a clearly-felt need in the artfor an improved compact man-portable locator system with user interface(UI) features permitting the locator operator to quickly and accuratelymanage the simultaneous detection and localization of a plurality ofburied and/or inaccessible targets. Accordingly, there is a need in theart to address the above-described as well as other problems.

SUMMARY

This disclosure relates generally to electronic systems and methods forlocating buried or otherwise inaccessible pipes and other conduits,cables, conductors and self-contained transmitters. More specifically,but not exclusively, the disclosure relates to portable locators foroperation in a multiple signal environment.

In one aspect, this disclosure relates to a system for simultaneouslysearching and analyzing multiple frequency bands, and sorting theresultant target detections according to their proximity to the locatorinstrument for presentation to the operator by means of a user interface(UI) system, which may include a multi-layered display of real-time ornear-real-time target analysis information.

The UI system may operate to simultaneously filter and process outputsfrom multiple detection channels in a manner that improves locatoroperator effectiveness. Embodiments may also be adapted to seek objectsof interest by dynamically forming and revising signal filters to focuslocator assets on the particular objects found within detection range.

Various additional aspects, features, and functionality are furtherdescribed below in conjunction with the appended Drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure may be more fully appreciated in connection withthe following detailed description taken in conjunction with theaccompanying drawings, wherein:

FIG. 1A is a general view of an exemplary multiple electromagnetic fieldsource environment suitable for use of the locator system embodiments asdescribed herein;

FIG. 1B is a breakaway view of a lower three-dimensional (3D) sensorarray embodiment suitable for use in the sensor assembly of the locatorsystem of FIG. 1A;

FIG. 1C is a block diagram illustrating an embodiment of the sensor andsensor conditioning assemblies suitable for use with the locator systemof FIG. 1A;

FIG. 1D is a block diagram illustrating an embodiment of the processorand user interface (UI) circuit assemblies suitable for use with thelocator system of FIG. 1A;

FIG. 1E is a block diagram illustrating an embodiment of an assembly forintegrating multiple sensor inputs from the upper and loweromnidirectional sensors for transfer to a digital signal processingblock suitable for use with the locator system of FIG. 1A;

FIG. 1F is a flowchart illustrating an exemplary embodiment of a signalprocessing method suitable for use with the locator system of FIG. 1A,including steps of accumulating samples formed into vector sums,processing the accumulated signals responsive to signal amplitude as afunction of the number n of frequency bins, and filtering theaccumulated signals with respect to the frequency bins;

FIG. 1G is a flowchart illustrating an exemplary process suitable foruse with the method of FIG. 1F when applied to data from one channel,including the steps of sampling signal data, processing the samples bymeans of Fourier transforms, and adaptively filtering the transformresults;

FIG. 2A is a flowchart illustrating an exemplary embodiment of a methodof this invention whereby signal values (S_(t)) are sampled, processedinto frequency bins and processed bin by bin based on proximity;

FIG. 2B is a schematic diagram illustrating an exemplary graphical userinterface (GUI) display embodiment showing the results of the filteringstep of FIG. 2A;

FIG. 2C is a flowchart illustrating two exemplary filtering methodsusing preconfigured or adaptive notch filtering selected according tothe proximity of the source for each frequency detected;

FIG. 3A is a flowchart illustrating another exemplary embodiment of amethod of this invention whereby signal values (S_(t)) on multiplechannels are filtered and processed to identify vector groupingsselected according to magnitude and orientation values;

FIG. 3B is a flowchart illustrating an exemplary method fordifferentiating distortion values by comparing the vector alignments inthe vector groupings determined according to the method of FIG. 3A;

FIG. 4 is a schematic diagram illustrating an exemplary GUI displayembodiment for displaying the processing results of the method of FIG.3B;

FIG. 5A is a schematic diagram illustrating an exemplary GUI layereddisplay having a wider, closer trace line superimposed over other deeperdetected traces;

FIG. 5B is a schematic diagram illustrating an exemplary GUI layereddisplay of a sonde detection in the foreground superimposed over asimultaneously-detected 33 kHz trace in the background;

FIG. 6 is a schematic diagram illustrating an exemplary GUI display oftwo tracing lines each having curved elements representing the currentflow direction detected by the locator;

FIG. 7A is a schematic diagram illustrating an exemplary GUI display ofa gradient line disposed parallel to a tracing line with the directionof offset displayed as a dynamically-updated indicator arrow;

FIG. 7B is a schematic diagram illustrating an exemplary GUI displayemploying symbols to communicate alignment information to a locatoroperator;

FIG. 7C is a schematic diagram illustrating an exemplary GUI display ofbalanced gradient coil signals (equal signal strength) represented as agradient line centered in the tracing line.

FIG. 7D is a schematic diagram illustrating a locator dispositionsuitable for producing the display of FIG. 7C;

FIG. 7E is a perspective view of several exemplary locator systemembodiments, each showing the physical gradient coil sensor dispositionssuitable for performing a particular method embodiment of thisinvention;

FIG. 8A is a schematic diagram illustrating an exemplary GUI displaydemonstrating the use of a variable-time bandpass filter using a filterhalf-width of ½ Hz;

FIG. 8B is a schematic diagram illustrating an exemplary GUI displaydemonstrating the use of a variable-time bandpass filter using a filterhalf-width of 2 Hz;

FIG. 8C is a schematic diagram illustrating an exemplary GUI filterdisplay demonstrating the use of a filter half-width of 8 Hz, the filterhaving adjusted responsive to the circumstances of the locating task;

FIG. 9A is a schematic diagram illustrating an exemplary embodiment ofthe method of this invention for operating several filters withtime-multiplexing;

FIG. 9B is a block diagram illustrating a process for summing theoutputs of filters tuned to the 5th, 9th and Nth harmonics of 60 Hz;

FIG. 10 is a block diagram illustrating a process for using anotch-filter to remove a particular band from a search band;

FIG. 11A is schematic diagram illustrating an exemplary GUI layereddisplay of target location information at multiple frequencies;

FIG. 11B is a schematic diagram illustrating the tracing at 33 kHz of apush cable coupled to a 512 Hz sonde at its far end and an exemplary GUIlayered display with auto-switched images illustrative of an exemplaryautomatic sonde detection procedure of this invention;

FIGS. 12A, 12B and 12C are schematic diagrams illustrating the evolutionof an exemplary GUI display using a change in trace line width torepresent locator movement toward a target 33 kHz conductor;

FIGS. 13A, 13B and 13C are schematic diagrams each illustrating anexemplary GUI display using a centering pair of arrows, a tracing lineand a gradient guidance line in combinations representing amulti-dimensional view of a locating situation in real time; and

FIGS. 14A, 14B and 14C are graphs illustrating the effects of shiftingthe analog to digital converter (ADC) clocking rate to optimize noisecharacteristics and smooth filter bandwidth.

DETAILED DESCRIPTION OF EMBODIMENTS

This application is related by common inventorship and subject matter tothe commonly-assigned patent application Ser. No. 10/268,641 entitled“Omnidirectional Sonde and Line Locator” filed on Oct. 15, 2002 by MarkOlsson et al. and published on Apr. 15, 2004 as U.S. Patent ApplicationNo. 2004/0070399A1, and to the commonly-assigned patent application Ser.No. 10/308,752 entitled “Single and Multi-Trace Omnidirectional Sondeand Line Locators and Transmitter Used Therewith” filed on Dec. 3, 2002by Mark Olsson et al. and published on Apr. 15, 2004 as U.S. PatentApplication No. 2004/0070535A1, which are both entirely incorporatedherein by this reference. This application is also related by commoninventorship and subject matter to the commonly-assigned patentapplication Ser. No. 10/956,328 entitled “Multi-Sensor MappingOmnidirectional Sonde and Line Locators” filed on Oct. 1, 2004, patentapplication Ser. No. 11/106,894 entitled “Locator with Apparent DepthIndication” filed on Apr. 15, 2005, patent application Ser. No.11/184,456 entitled “A Compact Self-Tuned Electrical Resonator forBuried Object Locator Applications” filed on Jul. 19, 2005, and patentapplication Ser. No. 11/248,539 entitled “A Reconfigurable PortableLocator Employing Multiple Sensor Arrays Having Flexible NestedOrthogonal Antennas” filed on Oct. 12, 2005, which are all entirelyincorporated herein by this reference. This application is also relatedby common inventorship and subject matter to the Provisional PatentApplication No. 60/806,708, filed on Jul. 6, 2006, and entitled, “MeshNetworked Wireless Buried Pipe and Cable Locating System,” as well as toU.S. Pat. No. 7,136,765, issued on Nov. 14, 2006, entitled “BuriedObject Locating and Tracing Method and System Employing PrincipalComponents Analysis for Blind Signal Detection” (Maier, et al.), both ofwhich are entirely incorporated herein by this reference.

Embodiments of the invention described herein provide an unexpectedlyadvantageous cable, pipe and sonde location method and apparatus byusing a streamed concatenation of a plurality of detector data channels;for example, by using vector-summation and Fast Fourier Transform (FFT)or similar techniques. Such data streams are made useable for the firsttime by introducing an advantageous user interface (UI) for presentingto the operator (also denominated “user” herein) informationrepresenting multiple objects, frequencies and changes in thesubterranean landscape simultaneously using graphical, numeric, andacoustic representations.

By using advantageous combinations of correlations, proximitycalculations, vector calculations and adaptive filtering, this locatorsystem facilitates the limiting of operator attention to signals ofinterest selected automatically from among a larger set of signaldetections at a particular location. For example, the signals ofinterest may be selected according to the estimated proximity of thesources of detected signals. The locator system preferably includes somemeans for converting antennas and coil analog signal input to digitaldata, some means for storing the digital data and for performingcalculations therewith, and some means for displaying results from suchcalculations to an operator, including graphical images, for example.The simultaneous analysis and display of source detections at multiplefrequencies, and the adaptive filtering described herein below, operateto enhance operator utility in complex signal environments.

In general, the exemplary embodiments described herein are intended tobe useful examples of the system of this invention and are not intendedto be limited to any particular embodiment of the method of thisinvention, nor to any particular number or orientation of antennaarrays, for example. One versed in the art may readily appreciate thatthe system and method of this invention may be readily adapted for usewith many other useful antenna configurations and/or calculationmethods, as is evident from the following discussion.

FIG. 1A is a general view of an operator 102 and a locator systemembodiment 104 working in an exemplary multiple electromagnetic fieldsource environment. Operator 102 holds locator 104, which is equippedwith upper and lower omnidirectional antenna nodes 106 and 108 affixedto a central shaft 110. Locator 104 is also equipped with right and leftgradient-coil antennas 112 and 113 (antenna 113 is hidden), which, inthis example, are affixed above lower omnidirectional antenna node 108and extend to the operator's right and left from central shaft 110. Anunderground utility line 114 is disposed at a depth Z₁ below locator 104and a second buried utility line 116 is disposed at a depth Z₂ belowlocator 104. An overhead electromagnetic (EM) signal source 118 is shownembodied as overhead power lines, which are disposed at a distance Z₃above the bottom of lower antenna node 108. As may be readilyappreciated, each of utility lines 114, 116, and 118 is separated fromlower antenna node 108 by a different proximity value, Z₁, Z₂, and Z₃.As discussed in more detail below, it is an important feature of thelocator system of this invention that these differing signal proximitiesand frequency spectra are employed to spatially separate and identifythe discrete signal sources.

The user (also denominated “operator” herein) of locator system 104cannot change the underlying conditions of a difficult locationenvironment, but the user can improve the location results from locator104 by, for example, changing the frequency, grounding conditions, andtransmitter location or by isolating the target line from a commonground, for example, by making a better ground connection, avoidingsignal splits, or taking steps to reduce local magnetic field (B-field)distortion.

FIG. 1B is a breakaway view of the three-dimensional omnidirectionalsensor array 109 contained within lower antenna node 108 (FIG. 1A), andis exemplary of the internal structure of the sensor arrays within othernodes. Array 109 includes three orthogonally-aligned antenna windings120, 122, and 124 fixed within a rigid casing 126. Windings 120, 122,and 124 are thereby disposed to define the three orthogonal sensor axes128-i, 128-j, and 128-k having a fixed orientation with respect tocentral shaft 110.

FIG. 1C is a block diagram illustrating an 8-sensor signal-conditioningassembly embodiment 128 suitable for use in locator system 104. A sensorassembly 130 includes eight identical EM field sensor coils (likewinding 120 in FIG. 1B) organized physically into three orthogonalsensor coils (C11, C12, C13) constituting a Top Ball (upper) array 133(like upper three-dimensional (3D) sensor array 106), three orthogonalsensor coils (C21, C22, C23) constituting a Bottom Ball (lower) array137 (like lower 3D sensor array 108), and two sensor coils (C3, C4)constituting the horizontal gradient sensor assemblies 132 and 135 (likeantennas 112 and 113 in FIG. 1A). Each coil (C11, C12, C13, C21, C22,C23, C3, and C4) is independently coupled to one of eight identicalchannels in the analog signal conditioning and digitizing assembly 128,each of which may be appreciated with reference to the followingdescription of the fourth conditioning channel coupled to EM fieldsensor 132 (C3). Coil C3 is coupled by way of the appropriatefrequency-response conditioning and signal attenuating elements to apreamplifier 134, which produces a low-impedance differential analogtime-varying signal S4(t) 136. Signal S4(t) 136 is routed directly tothe switch 138 and also to the mixer 140 where it is mixed with a localoscillator (LO) signal 142 from a numerically-controlled oscillator(NCO) 144 governed by clock-control signal 156 to produce the usual sumand difference frequencies, which may be lowpass filtered in the usualmanner to remove the sum frequencies from the difference frequencies atthe input of the isolation amplifier 146, for example. Thus, amplifier146 produces an intermediate frequency (IF) signal 148 representingtime-varying signal S4(t) 136 shifted up or down in frequency by anamount corresponding to LO signal 142.

Switch 138 may be set to present either time-varying signal S4(t) 136 orIF signal 148 or both to the 24-bit Analog-to-Digital Converter (ADC)assembly 150, which produces a digital data signal representing a sampleof the selected analog time-varying signals (either signal 136 or signal148) in the usual manner. Signal S4(t) 136 may be preferred when thesignal frequency of interest is within a range of values that may besampled by the ADC; and signal 148 may be preferred when the signalfrequency of interest is higher than the range of values that may besampled by the ADC, for example.

Responsive to the external control signals 152, ADC assembly 150 therebyproduces K=8 streams of digital signal samples representing the K=8time-varying signals {S_(k)(t)} from sensor assembly 130. These signalsare transmitted via, for example, a Texas Instruments Multi-ChannelBuffered Serial Port (McBSP)™ 154. ADC assembly 150 provides a newsignal sample for each of K=8 sensor signals for every t-secondinterval, which is herein denominated the sampling interval. Forexample, the inventors have demonstrated the usefulness of a 73,245 Hzsampling rate, which imposes a sampling interval T=13.65 microseconds.This data may optionally be stored, transmitted, or displayed to theoperator by way of some aspect of the User Interface (UI). Any knownstorage, transmission, or display means may be used. One or more filtersmay then optionally be matched to any desirable range of availablefrequencies as indicated by those frequency bins with the highest signalenergy values, to maximize the transmittance of the signal of a givendetected utility. These filters might be chosen from a pre-calculatedset of possible filters, or determined analytically and subsequentlyformed by software. By way of example, one filter might be chosen (oradaptively formed) to maximize the transmittance of certain lowerfrequency power-line signal components, and another filter might bechosen (or adaptively formed) to maximize the transmittance of certainhigher frequency signal components. This adaptive process may operatecontinuously in the background or may be initiated by a user command,for example. It is apparent to one skilled in the art that alternativeembodiments may be described according to the system of this inventionwherein the function of any McBSP is performed by some other usefulhigh-speed serial link, serial port interface (SPI), low-voltagedifferential signaling (LVDS) element, or the like.

FIG. 1D is a block diagram illustrating a processor circuit assemblyembodiment 160, including a user interface (UI) circuit assemblyembodiment of this invention. The processor assembly 160 accepts digitalsignal samples 154 from ADC assembly 150 (FIG. 1C) at a digital signalprocessor (DSP) 162, which includes internal memory 164 for storing andexecuting the accumulator and evaluator software program elements 166required to produce digital data representing buried object emissionfield vectors on the data bus 168 in any useful manner described in theabove-cited commonly-assigned patent applications fully incorporatedherein by reference. For example, software program elements may beprovided in DSP 162 to evaluate a B-field vector magnitude for each ofthe K=8 channels of digital data 154 arriving from analog signalconditioning and digitizing assembly 128. Indications of the 3D fieldvector BU(x, y, z) at the upper array node 106 (FIG. 1A) and indicationsof the 3D field vector BL(x, y, z) at the lower array node 108 may,under control of DSP 162, then be presented to the user by means of a UIassembly that comprises the liquid crystal display (LCD) 174, the audiointerface 186, the keypad 182 and various associated memory chips anddata buses in the example shown, for example. Additionally, indicationsof the independently measured horizontal magnetic gradient equal to thedifference between the horizontal B-field component B1(x) at thecentroid of coil (C3) 132 (like left gradient-coil sensor 113 in FIG.1A) and the horizontal B-field component B2(x) at the centroid of coil(C4) 135 (like the right gradient-coil sensor 112 in FIG. 1A) may alsobe presented to the user by means of the UI assembly under control ofDSP 162, for example. Moreover, these B-field vector indications may belimited to certain frequency bands and may be updated with the passageof time to reflect changes in any useful manner described in theabove-cited fully-incorporated patent applications, for example.

DSP 162 operates under the control of a microcontroller 170 and alsoproduces external control signals 172 for controlling ADC assembly 150and the clock control signals transmitted by means of the Multi-ChannelBuffered Serial Port 156 for controlling NCO 144 (FIG. 1C). TheGraphical UI (GUI) LCD 174 is disposed to accept and display images anddata representing buried object emission field vectors from data bus 168under the control of various specifications transferred on the addressand control bus 176. Data bus 168 and control bus 176 are also coupledto a flash memory 178 and a synchronous dynamic random-access memory(SDRAM) 180, which all operate under the control of DSP 162 and serve tostore data for program control and display purposes, for example. Thekeypad matrix or other user input device 182 is coupled tomicrocontroller 170 by, for example, a standard matrix scan bus 184,whereby a user may insert commands to processor assembly 160. An Audiouser interface (AUI) 186 operates to transfer various audio signals to auser from the serial bus 188 under the control of DSP 162. Processorassembly 160 may provide a new set of field vectors for everyaccumulation interval, which is herein defined as a plurality N_(T) ofthe t-second sampling intervals T₁ . . . n, thereby providing continuingindications as a function of time. This plurality N_(T) of the t-secondsampling intervals is indexed by the integer i=1, N, where N may varyfrom one accumulation interval to the next and where sequentialaccumulation intervals may be either disjoint or overlapping, forexample. The t-second sampling interval may also vary. The inventorshave demonstrated the usefulness of a T=64 sample buffer interval, forexample. An external data interface module 190 is also provided to allowdata communication between processor assembly 160 and external devicessuch as a personal computer or external storage devices such as externalremovable memory media or a universal serial bus (USB) drive (notshown), for example.

FIG. 1E is a schematic showing the several inputs from multiple sensorsas they relate to the DSP 162. The three orthogonal Top Ball signalsT_(i), T_(j), and T_(k) from top (upper) signal array 133 (FIG. 1C) arerouted to the DSP 162, as are the three orthogonal Bottom Ball signalsB_(i), B_(j), and B_(k) from lower signal array 137 (FIG. 1C).

Turning now to the flow chart shown in FIG. 1F, according to one aspect,the method of this invention combines (as a vector sum) three or morechannels of digital data from a detector array (for measuring the totalfield) into a single digital data stream representative of the totalsignal magnitude measured by the detector array. A transform process orpower spectrum estimation technique performed on a vector or block ofthis data produces signal energy data as a function of frequencyallocated to some number of predetermined frequency bins. In FIG. 1F, itis shown in Step 201 that sensor data is combined to form vector sums,in this example for lower-antenna array values i, j, and k. In Step 202,n samples of the processed values are collected in a data block. In Step203, the data block is processed to show the collected signal-strengthvalues in terms of n frequency bins, which may be sent for display onthe UI at step 207. From this arrangement, the system selects filtersfrom a pre-formed set or adaptively forms filters in Step 204, based onfB(n). The filtered data may be combined with direct data from thesensor array as shown in Step 205. Finally in step 206, the resultantdata is sent for display on the UI.

According to another aspect, a method of this invention combines (as avector sum) three or more channels of digital data from a detector array(for measuring the total field) into a single digital data streamrepresentative of the total signal magnitude measured by the detectorarray. A Fast Fourier Transform (FFT) or similar technique is performedon a vector or block of these data. The result represents signal energyas a function of frequency allocated to some number of predeterminedfrequency bins. By way of example, a sample rate of 73,245 samples persecond (corresponding to a Nyquist frequency of 36,622.5 Hz) might beallocated into a 2048 element channel data vector to yield a frequencybin size of 35.76 Hz. This frequency bin data may optionally be stored,transmitted, or displayed to the operator by way of some aspect of theUI. Any known storage, transmission, or display means may be used. Oneor more filters may then optionally be matched to any desirable range ofavailable frequencies as indicated by those frequency bins with thehighest signal energy values, to maximize the transmittance of thesignal of a given detected utility. These filters might be chosen from apre-calculated set of possible filters, or determined analytically andsubsequently formed by software. By way of example, one filter might bechosen (or adaptively formed) to maximize the transmittance of certainlower frequency power-line signal components, and another filter mightbe chosen (or adaptively formed) to maximize the transmittance ofcertain higher frequency signal components. This adaptive process mayoperate continuously in the background or may be initiated by a usercommand, for example. It should be appreciated that the number n ofsamples in a buffer does not necessarily define the number of frequencybins into which the same samples are processed, although the two merelyhappen to be identical in FIG. 1F.

FIG. 1G illustrates exemplary channel signal data (S(t)) graphically asa waveform mapped against time (t) in Step 211. This channel signal data(S(t)) is presented over one path to an FFT processor at Step 212 in theexample shown, and from there to a selected or adaptively formedfiltering process at Step 213 for the peaks identified as A, B, C and Din Step 212, and from there on a second path directly to the filteringprocess from the original data channel in Step 214. The results of thiscomparison may be represented by a GUI display in Step 205, which shows,for example, an image representing separate frequencies sorted byproximity.

FIG. 2A is a flowchart illustrating an exemplary approach to computingfrequencies relative to proximity. In an exemplary embodiment of themethod of this invention, individual channel data from two or morespaced apart detector arrays capable of measuring the total field ispassed to a transformation or power spectrum estimation processperformed on a block of preferably synchronous data from each detectorarray channel. In another exemplary embodiment of the method of thisinvention, three or more channel data from two or more spaced apartdetector arrays capable of measuring the total field are vector summedinto multiple data streams representative of the total signal magnitudeas measured by each detector array. A transform or power spectrumestimation procedure performed on a block of preferably synchronous datafrom each detector array produces data for relative signal energy as afunction of frequency. Calculations identify frequency bins associatedwith signals that originate closer to one of the several detectorarrays. It should be appreciated that other embodiments of this methodmay incorporate other useful methods for proximity calculation and thespecific method(s) discussed herein are not intended to limit the scopeof the claimed invention.

In FIG. 2A, sensor data S(t) is formed at Step 221 into vector sums forthe top (upper) and bottom (lower) antenna arrays, S ^(T)(t), S ^(B)(t).In Step 222, n samples of this process are accumulated. The block ofdata thus formed is processed in Step 223 into frequency bins for theTop and Bottom signal data, respectively, fB^(T) (n), fB^(v) (n) In Step224, the frequency bins are processed to yield proximity values P(n) foreach of the n sources. Step 224 introduces the constant K, which dependson the spacing between the upper and lower antenna arrays in thisexample. Locator 108 may be reconfigured to accommodate different arraynumbers and/or spacing. The calculation performed in this example isprovided in Eqn 1:

$\begin{matrix}{{P_{n} = {K\frac{\overset{\_}{{fB}^{T}}(n)}{{{\overset{\_}{fB}}^{B}(n)} - {{\overset{\_}{fB}}^{T}(n)}}}}.} & \left\lbrack {{Eqn}.\mspace{14mu} 1} \right\rbrack\end{matrix}$

After Step 224, in Step 225, one or more filters is selected oradaptively formed responsive to the computed value of P(n) from Eqn. 1.These filter(s) are applied to the unprocessed sensor data {S(t)} atStep 226 and the resultant filtered data are sent for conversion to aGUI image for display at Step 227.

FIG. 2B provides an exemplary GUI image 230 portraying a representationof data produced from the process described in FIG. 2A. In FIG. 2B, theclosest signal is a 33 kHz trace, shown as the top layer 231. Beneathlayer 231, two other signals are shown, a broadband >10 kHz trace 232and below it, a 512 Hz detection 233. These signal representations aredisplayed as layers ordered according to their calculated proximity,with the closest disposed uppermost.

FIG. 2C illustrates three exemplary embodiments 241, 242 and 243 of themethod of Step 225 (FIG. 2A) for selecting or adaptively forming filtersresponsive to the proximity values {P(n)}. In Example 241 (preconfiguredfiltering for proximity), the frequency bin associated with the largestproximity value P(max) is selected in Step 251 and a preconfigurednarrowband filter centered on this P(max) frequency at Step 252. Thispreconfigured narrowband filter is applied to the signal data stream andthe output is processed to generate an image for display at the GUI atStep 253.

In FIG. 2C, Example 242 (adaptive broadband filtering for proximity)begins at Step 261 with the computation of the proximity values P(n) ineach frequency bin to identify the n adjacent bins having the highestaverage proximity value P, where n is chosen in some useful manner. AtStep 262, a broadband correlation filter is generated so that it iscentered on the average frequency value of the n identified bins. Thebroadband filter is applied and the output is processed for display atthe GUI at Step 263.

In FIG. 2C, Example 243 (adaptive filtering to enhance target signalSNR) begins at Step 271 where adaptive filtering and/or notch filteringis applied to enhance the signal-to-noise ratio (SNR) of the targetsignal and a frequency bin with the largest proximity value is thenselected, or alternatively, a frequency bin containing values for atarget frequency is selected. In Step 272, frequency-bin values areevaluated to identify any significant “jammers” in the locatingenvironment. In Step 273, the notch filtering necessary to reduce thesignal levels of any significant jammers with respect to the targetsignal frequency bin from Step 271 is adaptively generated. Finally, atStep 274, the new notch filter(s) are applied to the signal data streamand the necessary images are generated and presented to the GUI display.Any such “jammers” might be, for example, local EM noise generators or,for example, a known active transmitter frequency (sonde) usedsimultaneously in the target location effort.

The exemplary methods described above in connection with FIGS. 2A and 2Care useful embodiments. A Fast Fourier Transform (FFT) or similarprocedure is performed on a block of preferably synchronous data fromeach detector array channel. The result is data representing signalenergy as a function of frequency allocated to some number ofpredetermined frequency bins for each detector array channel. Acorresponding signal vector and associated vector magnitude may then becomputed for each frequency bin associated with each spaced apartdetector array. A proximity calculation is then performed for each binand from these calculations, filters may be adaptively formed and/orpreconfigured filters may be selected and applied to the stream ofsensor data (S_(t)). In these examples, the three sensors in the Top andBottom arrays or nodes of the locator are combined to create vectormagnitude values for each array.

According to one aspect of the system of this invention, three channeldata from a three-or-more-channel full field detector array is passed toa power spectrum estimator and/or transformation technique to yieldsignal energy as a function of frequency by channel allocated to nfrequency bins. Vector magnitude is then computed for each frequency binand filters are chosen or developed adaptively to optimize the transferof signal frequencies unique to each vector grouping. As an example of apower spectrum estimator and/or transformation technique, an FFT isperformed on data from each channel of each detector array. The result,for each channel, is signal energy as a function of frequency, allocatedto some number of predetermined frequency bins (as in FIG. 1F). A signalvector and associated vector magnitude are then computed for eachfrequency bin. By any useful means known in the art, vector groupingsare identified from vector orientation and magnitude valuescorresponding to signal energy from different sources. Separate filtersmay then be chosen to optimize transfer of the frequencies unique toeach vector grouping.

FIG. 3A is a flowchart illustrating an exemplary embodiment of themethod of this invention in which a number of samples for each of anumber of channels are first processed to determine field vectors andsignal proximities. The flowchart illustrates the principle of binsorting by proximity when applied to each data channel separately ratherthan to the combined vector sums. Step 311 accumulates n samples foreach channel, and Step 312 sorts the samples into frequency binssegregated by data channel. Step 313 forms a series of frequency binvectors, one per data channel, and Step 314 organizes these vectors intofrequency-bin vector magnitudes, which may also be transferred to theanalysis process illustrated in FIG. 3B if no filtering is desired.

Continuing with FIG. 3A, Step 315 analyzes the frequency bin magnitudevalues to identify vector groups according to the orientation andmagnitude of the several vectors by any useful means known in the artand the vector group data is processed for GUI display at Step 316.Alternatively, the process may branch to Step 317 for selection oradaptive generation of filters responsive to vector orientation ormagnitude values.

FIG. 3B is a flowchart illustrating an exemplary method fordifferentiating distortion values by comparing the vector alignmentsfound in the vector groupings determined at Steps 314 and/or 317 (FIG.3A). In FIG. 3B, Step 321 passes the vector magnitude and orientationvalues to Step 322 for a calculation to determine a proximity valueassociable with each frequency-bin sensor array vector. Step 322 isaccomplished using Eqn.

$\begin{matrix}{{P_{n} = {K\frac{\overset{\_}{{fB}^{T}}(n)}{{{\overset{\_}{fB}}^{B}(n)} - {{\overset{\_}{fB}}^{T}(n)}}}}.} & \left\lbrack {{Eqn}.\mspace{14mu} 2} \right\rbrack\end{matrix}$

In Eqn. 2, the constant K is proportional to the fixed distance betweenthe upper and lower antenna nodes 106, 108 (FIG. 1). From these Eqn. 2proximity values, Step 323 may (optionally) calculate distortionaccording to Eqn. 3 to identify those frequency bins with less signaldistortion, which is related to the variable Θ from Eqn. 3:

In Eqn. 3, f is some generally monotonic function so that a Θ valueclose to zero indicates less distortion between Top and Bottom sensorarrays. The use in the divisor of the scalar product of two vectorsassumes an orthonormal vector space.

$\begin{matrix}{{{\Theta(n)} = {f\left\{ {\cos^{1}\frac{\left\lbrack \left( {{{fB}_{i}^{T}{fB}_{i}^{B}} + {{fB}_{j}^{T}{fB}_{j}^{B}} + {{fB}_{k}^{T}{fB}_{k}^{B}}} \right) \right\rbrack}{\left( {\overset{\rightarrow}{{fB}^{T}} \cdot \overset{\rightarrow}{{fB}^{B}}} \right)}} \right\}}}.} & \left\lbrack {{Eqn}.\mspace{14mu} 3} \right\rbrack\end{matrix}$

In Eqn. 3, f is some generally monotonic function so that a Θ valueclose to zero indicates less distortion between Top and Bottom sensorarrays.

This distortion measure allows Step 324 to identify signals of interesthaving larger proximity values (Eqn. 2) and lower distortion values(Eqn. 3), which are then processed for display at the GUI in Step 325.Alternatively, Step 326 may select or adaptively generate filters forproducing results filtered responsive to the proximity, distortion,magnitude and/or orientation values of the several vectors.

Note that to save computation time it is possible to calculate only Top(upper) array magnitude values rather than the complete vectors, toprovide proximity results only, omitting calculation for distortion.

Signals of interest may be filtered based on distortion values alonewhen these are available from Eqn. 3 calculations. One useful method forsuch a calculation is to determine the difference angle Θ_(n) betweeneach corresponding T vector (Top Array) and corresponding B vector(Bottom Array), frequency bin by frequency bin. With this method, thecorresponding vectors are most closely aligned and the Θ_(n) values aresmall when less field distortion is found between the two or more spacedapart 3D sensor arrays.

FIG. 4 illustrates an exemplary GUI display image 330 for portraying theresults of the processes of FIGS. 3A-B. FIG. 4 may be appreciated withreference to the above discussion of FIG. 2A. Other exemplary GUIdisplay images and methods are now discussed in connection with FIGS.5A, 5B, and 6.

According to another aspect of the system of this invention, informationfrom the locator instrument processors is displayed in independentlayers so that the graphic display image responds to filtered signals toindicate the presence and relative location of either one or more linesor a sonde or both. FIG. 5A is a display screen image 340 portraying amethod of displaying detection information from a locator in a layeredfashion. In FIG. 5A, a frequency detection with a near proximity isportrayed as a wide trace 700 in the top image layer of the display area706. A second trace 702 represents a signal with a more distantproximity value in an intermediate image layer, and the trace 704represents a third signal having a yet more distant proximity value in alower image layer. In operation, these trace representations 700, 702and 704 might represent sonde signals or line-trace detections. Thelayer of each detection represented changes according to changes in therelative proximity during the locate effort.

FIG. 5B is a display image 350 demonstrating that the display canprovide the locator operator with real-time (or near real-time)information on two or more targets simultaneously, including lineconductors (utilities) or dipole transmitters (sondes), and that suchinformation may include the relative proximities of all such targets.Image 350 shows two signals portrayed simultaneously in the display area708 of locator 104 (FIG. 1A) where the line 710 in the upper image layerrepresents the detection of a proximate sonde and the trace 712 in thelower image layer represents the detection of a more distant 33 kHzline.

According to another aspect of the system of this invention, the currentflow direction in the detected conductor is computed and graphicallydisplayed to the operator using icons such as, for example, a series ofcurved segments associated with the gradient line. FIG. 6 shows twoexemplary images 360 and 370 using curved segments to represent thedirection of current flow in a detected conductor. In image 360, thecurrent direction in conductor 1100 is toward the bottom of the screen,and in image 370, the current direction in conductor 1102 is in thedirection opposite to that in conductor 1100. Alternatively, the curvedsegments showing direction of current may be displayed as moving in thecurrent direction at a rate that corresponds to the calculated currentmagnitude in the detected conductor. Alternatively, current directionmay be shown by such movement alone without curvature in the segments.

Gradient Calculation and Display

According to another aspect of the system of this invention, separategradient coils are disposed on the left and right side of the locatorfor detecting the magnetic field gradient between them. In a preferredembodiment, the signals from these gradient coils and the lower antennaarray signals together permit the computation of proximity and depthvalues from a buried utility detection. This combination of gradientcoil and lower antenna array signals may be processed to yield depth andproximity values with useful accuracy when the axis between the twogradient coils is generally disposed perpendicular to the buried utilityline with the line generally centered and the gradient coil pair.

According to another aspect of the present invention, separate gradientcoils in a locator are used to detect the gradient values of thedetected magnetic field on the left and right side of the locator. In apreferred embodiment, the gradient coils of the locator are used inconjunction with the lower antenna array signals to provide a basis forthe computation of proximity and depth of a detected buried utility.Using these values, depth and proximity may be calculated with usefulaccuracy when the gradient coils are approximately centered over theline and perpendicular to the axis of the target utility.

The inputs provided are the signal strength as measured on the threeaxes of the bottom antenna node, and the signal strength measured by thetwo gradient coils. A component is calculated of S_(B) in the directionof the gradient axis. An estimate is made of field strength at a virtualreceiver location at the gradient axis. From these values, a depth valueis calculated as shown below:

$\begin{matrix}\left. {\begin{pmatrix}0 & \sqrt{\frac{1}{2}} & {- \sqrt{\frac{1}{2}}} & 0 & 0 \\0 & 0 & 0 & \frac{1}{2} & {- \frac{1}{2}}\end{pmatrix} \cdot \begin{pmatrix}B_{i}^{B} \\B_{j}^{B} \\B_{k}^{B} \\G_{L} \\G_{R}\end{pmatrix}}\Rightarrow\begin{pmatrix}B_{y}^{B} \\B^{G}\end{pmatrix} \right. & \left\lbrack {{Eqn}.\mspace{14mu} 4} \right\rbrack \\{{Depth} = \left( \frac{d}{\sqrt{\left( \frac{B_{y}^{B}}{B^{G}} \right)^{2} - 1}} \right)} & \left\lbrack {{Eqn}.\mspace{14mu} 5} \right\rbrack\end{matrix}$

Where: B^(B) _(i,j,k)=signal values from lower antenna

G_(R), G_(L)=Signal strength values from right and left gradient coils

d=Distance between bottom antenna and a virtual receiver location at thegradient axis

(Note: For dipole fields the final square root would be a 6th root)

FIG. 7A is a schematic diagram illustrating an exemplary GUI displayimage 380 showing a gradient line 1200 disposed parallel to a trace line1202 with the direction of offset displayed as a dynamically-updatedindicator arrow. Gradient line 1200 is determined by a comparison of thefield detection (G_(L)) of the left-side gradient coil sensor 113 (FIG.1A) with that (G_(R)) of the right-side gradient coil sensor 112 (FIG.1A). If the two signals strengths are equal (G_(R)=G_(L)), the gradientline 1200 is displayed as concentric with trace line 1202 to indicatethat locator 108 (FIG. 1A) is disposed directly above the center of thedetected field. In image 380, gradient line 1200 is displayed with anoffset of distance Z from trace line 1202 to indicate that the left-sidegradient coil 113 is sensing a higher signal strength than theright-side gradient coil 112. In this exemplary embodiment, the value ofZ is calculated from Eqn. 6:

$\begin{matrix}{{Offset} = {R_{m} \times \left( {d \times {0.0}1} \right) \times {\cos\left( {{Polar}\angle}_{Bottom} \right)} \times \frac{\left( {{\overset{¯}{G}}_{R} - {\overset{¯}{G}}_{L}} \right)}{\left( {{\overset{¯}{G}}_{R} + {\overset{¯}{G}}_{L}} \right)}}} & \left\lbrack {{Eqn}.\mspace{14mu} 6} \right\rbrack\end{matrix}$

Where: Rm=the map radius in pixels in image 380;

-   -   d=calculated depth;        -   Polar Z ∠_(Bottom)=Polar Angle computed from lower sensor            array 108; and        -   G_(R), G_(L)=Signal strength values from left and right            gradient coils (112, 113).

The gradient line is preferably displayed whenever any one or more ofthe following three criteria are satisfied: (a) The field measured bythe two offset gradient coils, located in proximity to a full fieldvector sensing array comprising the Top and Bottom nodes in FIG. 1A(106, 108), is approximately balanced within some predetermined range;(b) The azimuthal angle of the field measured by full field vectorsensor is aligned with the axis of the gradient coil pair (110, 112) towithin some predetermined range of angles; or (c) The measured depth orproximity is positive and the magnetic field source is determined to bein the ground below the receiving unit.

In image 380, the angle of gradient line 1200 is set to the azimuthalB-field orientation at the centroid of the Bottom Array, soΘ=Azimuthal.angle.Bottom. Gradient line 1200 is therefore parallel tobut displaced from trace line 1202, depending on the signal balancebetween the two gradient sensor signals G_(R), and G_(L).

FIG. 7B provides a display image embodiment 390 that uses symbols topresent alignment information to the locator operator (user). In oneaspect of the system of this invention, misalignment between theportable locator and a target conductor may be indicated to the operatorthrough the display of, for example, curved arrows indicating therotational correction needed to align the locator. In image 390, curvedarrows 1204 and 1206 are displayed to direct the locator operator torotate the locator in the direction required to align the gradient axis(defined by the coil pair) with the target conductor. Clockwise curvedarrows 1204, 1206 direct the operator to rotate the locator 104 (FIG.1A) clockwise to align with the trace line 1208, and counterclockwisearrows (not shown) would direct the operator to rotate the locator 104counterclockwise to do so.

FIG. 7C shows an exemplary display image 400 for displaying a conditionin which the signals from the left gradient coil 113 (FIG. 1A) and theright gradient coil 112 (FIG. 1A) are balanced. In this exemplaryembodiment, a gradient balance indication image provides a pair ofdisplacement arrows 1214 disposed generally perpendicular to theazimuthal projection 1212 into the plane of the display of the localmagnetic field vector determined by a 3-D full-field vector sensingarray. This gradient balance indication 1214 is displayed only when oneor more field measurement criteria are satisfied. The gradient balanceindication of this invention may be a line displayed on a graphical userinterface and may be displayed at the center of the mapping area of agraphical user interface when the two gradient coil signals aregenerally balanced and the measured field is generally equal in eachcoil. In FIG. 7C, the gradient line 1210 is centered along the traceline 1212, and the displacement arrows 1214 point inward toward thegradient line 1210. The display image 400 indicates that the locator 104(FIG. 1A) is disposed directly over the center of the detected traceline field. FIG. 7D illustrates a disposition of a locator 1216 withgradient coil antennas 1218, 1220 embodied as side-wheels, relative tothe normal field 1240 under the conditions indicated in image 400 (FIG.7C).

FIG. 7E shows a perspective view of three exemplary locator embodiments1216, 1222, and 1228. Each locator embodiment 1216, 1222, and 1228employs a useful physical gradient coil sensor arrangement suitable foruse with the method of this invention. In locator 1216 (also denominatedthe SR-20 model), the gradient coils 1218 and 1220 are disposed at anoffset above the lower antenna node 1217. In locator 1222 (alsodenominated the SR-60 model), the gradient coils 1226 and 1224 aredisposed similarly to those in locator 1216. In locator 1228 (alsodenominated the “self-standing” locator), three omnidirectional 3Dantenna nodes 1234, 1236, and 1238 are disposed to replace the usualsingle lower antenna node 1217 seen in locator 1216. Operating together,the three lower nodes 1234, 1236, and 1238 provide three sets ofthree-dimensional B-field data, which may be processed to define theazimuthal magnetic gradient so that the separate pair of single-axisgradient coils is unnecessary for this purpose. With locator 1228, Eqns.4-6 above are revised to accommodate the additional available 3-axisfield data, from which the azimuthal gradient components may be quicklyderived with reference to one or more of the above-cited commonlyassigned patent applications incorporated herein by reference.

Variable-Time Bandpass Filter

In one aspect of system of this invention, an adjustable variable-timebandpass filter is coupled to a signal quality determining means tofacilitate adjustment of the filter time-constant responsive to a signalquality measure. In one embodiment, such adjustment is madeautomatically.

FIG. 8A is an exemplary locator display image for indicating when avariable-time bandpass filter is applied with the filter half-width setto ½ Hz. In narrow-band filtering applications, the filter half-widthdefines a passband frequency window outside of which the signal isrejected. Thus, in FIG. 8A, any signal frequency component more than ½Hz above or below the nominal seeking frequency is rejected, therebyeliminating nearby jamming signal frequencies in noisy environments, forexample.

In broadband filtering applications, the variable-time bandpass filteroperates to enhance the signal-to-noise ratio (SNR) by changing thesampling size per unit of time (and the sampling rate). When the filterhalf-width is reduced, as in FIG. 8A, more signal samples of smallersize are collected, requiring a longer period to process a block of dataand thereby providing a higher SNR. Conversely, when the filter inbroadband situations is set to a higher filter half-width value, such as8 Hz, the SNR is lower, but the locator response time changingconditions is proportionately faster.

FIG. 8B is the exemplary locator display image of FIG. 8A revised toindicate that the variable-time bandpass filter is applied with thefilter half-width set to 2 Hz. In narrowband filtering applications,this filter half-width reduces the SNR over that available for the ½ Hzfilter but increases the SNR over that available from the 8 Hz filter,the display image for which is shown in FIG. 8C. Conversely, theresponse time for the filter shown in FIG. 8B is reduced by the filtersetting shown in FIG. 8C and increased (slower) by the filter settingshown in FIG. 8A. In narrowband applications, the higher 8 Hz setting inFIG. 8C permits processing of signals having frequencies up to 8 Hzabove or below the nominal line search frequency, which may be usefulwhen signal distortion is present, for example, or when otherenvironmental factors increase the importance of margin frequencies.

In another aspect of the system of this invention, input from anon-board 3-axis compass and an on-board 3-axis accelerometer may be usedto provide additional data useful for describing relative locatormotion. When the locator is moving, the system of this invention mayautomatically select the time-variable settings needed for fasterrefresh rates to accommodate the increased rate of change to the locatesituation. If locator motion declines or halts, the system mayresponsively adjust the time-variable bandpass values to improve SNR bylowering system response time.

In another aspect of the system of this invention, a first harmonic of adetected signal is filtered by a first bandpass filter and a secondharmonic of the same signal is filtered by a second bandpass filter toproduce a composite signal. This composite signal, produced by acombination of these filters, is then used to create a GUI display imageadapted to indicate the presence of a hidden utility or sonde.

Alternatively, two or more of such bandpass filters may be appliedserially to a signal. FIG. 9A illustrates the signal spectrum 1900 withthe 5th, 9th and nth harmonics of 60 Hz marked. Applying the firstfilter 1902 in a series limits the output to the 300 Hz signalfrequencies as shown. Applying the second filter 1904 in the serieslimits the output to the 540 Hz signal frequencies as shown. Applyingthe nth filter 1906 in the series limits the output to the x Hz signalfrequencies as shown. The combined results of two or more of suchbandpass filters may then be processed to produce a GUI display image.

FIG. 9B is a flow chart of an exemplary embodiment of this process. InFIG. 9B, signal S(t) is passed simultaneously through a filter 1908 for300 Hz, a filter 1910 for 540 Hz and a filter 1912 for x Hz. The outputsfrom these filters are then presented to a summing block 1914 forproducing a composite output that is then presented to the userinterface 1916 for generation of the required GUI display image (notshown).

In another aspect of the system of this invention, a display image forindicating the presence of one or more hidden sondes or utilities isproduced by employing a combination of a first narrowband notch filterfor attenuating one or more predetermined frequencies and a secondbroadband filter having a passband overlapping the same predeterminedfrequencies.

In another aspect of the system of this invention, a display image forindicating the presence of one or more hidden sondes or utilities isproduced by employing a combination of a first narrowband notch filterfor attenuating one or more predetermined frequencies and a secondcross-correlation process according to the method shown in FIG. 10. Abroadband filter 2000 for frequencies greater than 10 kHz is firstapplied to signal S(t). The output is presented to the notch filter 2002to remove a predetermined frequency (33 kHz in this example). Thisfilter 2002 may, for example, be used to mask an active-trace signalfrequency while passively detecting other search environment frequenciesthat may otherwise be masked by the stronger active-trace signal.

In FIG. 10, the notch filter 2002 removes the 33 kHz signal frequenciesfrom the >10K signal band so that the >10 kHz signals may be separatelydetected passively, for example, during the simultaneous pursuit of a 33kHz active trace signal on a separate channel. This prevents leakage ofthe actively pursued 33 kHz trace signal from leaking into thepassive >10 kHz search data processing. This feature advantageouslypermits the simultaneous search for sources in a passive search band anda predetermined active search trace frequency, which facilitatesalerting the locator operator to unknown conductors in the vicinity ofhis active search, for example. It may be readily appreciated that thisaspect of using such filtering to facilitate the simultaneous search formultiple target frequencies is not limited by the exemplary embodimentsdescribed herein.

In the exemplary multiple electromagnetic field source environment ofFIG. 1A, for example, an active frequency such as 33 kHz may be placedon a first conductor 114 while a more deeply buried conductor 116 isre-radiating some passive energy in the >10 kHz range. The filteringmethod described above facilitates the clear simultaneous detection ofboth signals and the discrimination between their source locations bypreventing active 33 kHz signal components from masking the weakerpassive signals from conductor 116 in the >10 kHz band. Alternatively, asingle filter with a passband for passing all frequencies >10 kHz and anotch-band for attenuating the 33 kHz signal may be provided to the sameeffect, or the individual filters may be applied serially in eitherorder, for example. A cross-correlation process, such as is described inthe above-cited U.S. Pat. No. 7,136,765 and incorporated herein in itsentirety by reference, may then be applied to the filtered output.Referring again to FIG. 10, the correlation process 2004 is applied toextract eigenvalues and eigenvectors from the correlation matrixgenerated from the filtered signals, and the resultant field vector ofthe signal emission is processed in UI 2006 to produce the required GUIdisplay image.

In another aspect of the system of this invention, a first bandpassfilter is configured to filter some predetermined sonde frequency and asecond bandpass filter is configured to filter a predeterminedline-tracing frequency, thereby providing a signal useful for indicatingat the UI the presence and general location of a line, a sonde, or both.In yet another aspect of the system of this invention, one bandpassfilter is configured to select a predetermined sonde frequency while asecond filter is configured for broadband detection of line tracefrequencies. Signal information from both filters is then used to createa display image for indicating the presence of a hidden sonde at thepredetermined sonde frequency and any line signals emanating within thesecond broadband bandwidth.

In another aspect of the system of this invention, the locator mode isautomatically switched responsive to the kind of target detected. Forexample, the locator system may automatically switch to sonde mode if a512 Hz frequency is detected while tracing at some line frequency (e.g.,33 kHz) and while simultaneously seeking passive signals in a broad bandregion such as >10 kHz. The locator may permit the operator to “lock” toa frequency mode as an override of the automatic mode-change feature,thereby retaining control to focus on a particular frequency.Alternatively, the locator may display information related to severalbands or frequencies with, for example, a line-trace frequency or sondefrequency locked to appear “uppermost” in a layered display image. Inanother aspect of this embodiment, sound signals may be used to signalan automatic mode-change to the operator, or to signal to the operatorwhen new frequencies are detected during the search, for example. Inanother aspect of this embodiment, four channels of information fromfour different frequencies may be displayed simultaneously, such as asonde frequency of 512 Hz, a passive AC power frequency, a 33 kHzline-trace frequency, and detections in a passive >10 kHz band, forexample.

FIGS. 11A and 11B illustrate an exemplary embodiment suitable for usewith these aspects. FIG. 11A shows an embodiment of the layered displaymethod of this invention suitable for use when simultaneously tracingseveral frequencies. A selected primary frequency (such as a 512 Hzsonde detection) image layer 2202 is moved up in the display stack abovethe displays of other frequencies. Using the above-described signalfiltering method, the locator system display may automatically switch tothe sonde mode and display image layer 2202 automatically pushed to thetop of the display image stack responsive to the detection (above auser-adjustable threshold) of any 512 Hz signal, for example.Alternatively, when a 33 kHz signal is detected in the absence of a 512Hz sonde signal, then the 33 kHz display image 2200 is of primaryinterest and its display image 2200 may be pushed to the top of thedisplay image stack. The locator system may also be scanningsimultaneously for passive signals in the <4 kHz power band, forexample, applying a notch filter to eliminate all 512 Hz signals fromthe <4 kHz power band display image layer 2206, and may also be scanningfor passive signals in the >10 kHz band, for example, applying a notchfilter to remove any 33 kHz frequencies from the >10 kHz band displayimage layer 2204. In such configurations, an inserted cable energized at33 kHz and having a sonde and camera at the end may be traced, whilealso continuously scanning for the 512 Hz sonde itself as it moves intodetection range, while also searching for other frequencies in the two<4 kHz and >10 kHz passive-search bands, for example. The system mayalso provide means for an operator selectable “lock” on a particularfrequency of interest to hold the corresponding display image at the toplayer of the GUI stack to facilitate concentration on a particulartarget by the locator operator while also updating other targetfrequencies at lower display layers without regard to their proximity,for example. The frequencies filtered out in a particular display may beindicated to the operator by, for example, displaying their numericalvalues prefixed by a minus (“−”) sign to remind the operator that theyhave been filtered from the display image. Display image stack layersmay be ordered by, for example, proximity, signal strength, by cyclic ormanual rotation, or any other useful criterion.

FIG. 11B is a schematic diagram illustrating the tracing at 33 kHz of asewer snake 2210 (energized using 33 kHz or other traceable frequency)coupled to a 512 Hz sonde 2208 (powered by wires within sewer snake2210) at its far end, and an exemplary GUI layered display withauto-switched images 2214 and 2216 illustrative of an exemplaryautomatic sonde detection procedure mentioned above. Such a scenario maybe encountered, for example, when seeking the location of a blockage ina domestic drain line 2218. In the scenario of FIG. 11B, the locatorsystem 2212 includes a first bandpass filter (not shown) configured to apredetermined sonde frequency (e.g., 512 Hz), a second bandpass filter(not shown) configured to a predetermined line frequency (e.g., 33 kHz),and a third broadband filter (not shown) configured for knownline-tracing frequencies. Locator system 2212 also includes GUIprocessing means for displaying images indicating the detection of oneor more of (a) a known-frequency target sonde, (b) a known-frequencyline such as might be built into the cable connected to the sonde, and(c) other hidden lines which may be encountered. The display image 2214is illustrated as displaying a trace line 2215 at 33 kHz, and thedisplay image 2216 indicates the detection of sonde 2208, whereby thesystem advances image 2216 to the top layer of the layered GUI imagestack.

In another aspect of the preferred system embodiment of this invention,the GUI tracing line display image is produced to vary in widthinversely (or as a generally monotonic function of the inverse) to thedepth computed for a detected conductor or buried object. Alternatively,the GUI tracing line display image is produced to vary in widthinversely (or as a generally monotonic function of the inverse) to theproximity computed for the detected object or conductor. Thus, forexample, a buried cable detection produces a display image having awider tracing line when closer to the locator and a narrower tracingline when further away (using the alternative proximityproportionality). Of course, any other useful image characteristics mayalternatively be used to indicate relative calculated depth orproximity, such as color density, graphic patterns, and the like.

FIGS. 12A, 12B and 12C are schematic diagrams illustrating the evolutionof an exemplary GUI display image using a change in trace line width torepresent locator movement toward a conductor target radiating at 33kHz. In FIG. 12A, the trace line 410 is displayed as relatively narrowto indicate a depth of 6 feet (1.8 m). In FIG. 12B, the calculated depthhas dropped to 4 feet (1.2 m), and trace line 410 is displayed as widerline. In FIG. 12C, the locator has moved to within 2 feet (0.6 m) of thetarget conductor, and trace line 410 is displayed as a yet wider line.This UI display image method provides a rapid and intuitive visual cueto the operator of relative locator movement with respect to thedetected target. Other useful techniques may also be used with thesystem of this invention, such as variable-density cross hatching orcolor-coding, for example. In another aspect of a preferred embodimentdescribed above, the gradient coils of the locator are used inconjunction with the lower antenna array signals to provide a basis forthe computation of proximity and depth of a detected buried utility.

In another aspect of the system of this invention, signals from the twogradient coil antennas 1218 and 1220 (FIG. 7D) located on either side ofthe locator shaft are used to compute alignment information relative tothe detected conductor. Detection information from these gradient coilsalone is sufficient to determine the lateral disposition of a guidanceline on a GUI display image, while the primary trace line disposition onthe display image requires the full vector information supplied by theupper and lower 3D omnidirectional antennas.

FIGS. 13A, 13B and 13C are schematic diagrams each illustrating anexemplary GUI display image using a centering pair of arrows, a tracingline and a gradient guidance line in combinations representing amulti-dimensional view of a locating situation in real time. In FIG.13A, a locator display image 1300 is shown presenting a central circulararea 1302 in which the multiple frequency bands sensed by the locatorare simultaneously displayed graphically as lines 1306, 1310, and 1312.Using computational methods discussed above, the primary trace line 1306is disposed to represent a bearing calculated for a signal emissiondetected in the frequency band containing the signal having the nearestcalculated proximity, the 4 k-15 kHz band in this example. A guidancearrow 1308 is displayed to indicate the direction of lateral locatormovement required to better align the locator with the source of primarytracing line 1306, and a guidance line 1304 indicates the target bearingby its displayed angle. Guidance line 1304 also indicates by itsrelative length the degree of alignment with the source of primarytracing line 1306, growing longer to indicate the approach of locatoralignment to that of the source of primary tracing line 1306. Primarytracing line 1306 also indicates the computed level of signal distortionby adding a visual “fuzzing” or defocusing effect to graphic line 1306,which quickly and intuitively communicates a qualitative sense of signalconditions in the local area and thereby a qualitative sense of targetdetection reliability. Thus, in a region with little or no signaldistortion, primary tracing line 1306 is presented as a clean straightline. With increasing signal distortion, primary tracing line 1306 ispresented with correspondingly increased “fuzziness.” The two secondarytrace lines 1310 and 1312 represent signal detections in two other bands(e.g., <4 kHz and >15 kHz).

In FIG. 13B, primary tracing line 1306 represents a detection in the >15kHz band and the secondary tracing lines 1312 and 1313 representdetections in other bands such as 4-15 kHz and <4 kHz, for example. Thetwo guidance arrows 1308 and 1314 are centered on the guidance line 1318in FIG. 13B to indicate that the locator is disposed directly over theprimary conductor detected in the >15 kHz band. The display image 1322shows that significant signal distortion is present by the degree of“fuzziness” in primary tracing line 1306 and by the lateral displacementbetween primary tracing line 1306 and guidance line 1308.

In FIG. 13C, a display image 1324 shows an undistorted primary tracingline 1316 well-aligned with the guidance line 1320 bearing. Guidancearrows 1308 and 1314 indicate that the locator is disposed directly overthe primary detected conductor. Primary trace line 1316 indicates arelatively undistorted detection in the >15 kHz band. A secondary traceline 1312 indicates a simultaneous detection in another band (e.g., <4kHz or 4-15 kHz). Guidance line 1320 is displayed at or near maximumlength to indicate that it is closely aligned with conductor representedby primary trace line 1316. There is little or no lateral displacementbetween guidance line 1320 and primary tracing line 1316, and guidancearrows 1308 and 1314 indicate centering over the primary conductoremitting in the >15 kHz band.

In another aspect of the system of this invention, a process forsmoothing filter bandwidth variations and for simultaneously improvingthe inverse-frequency (1/f) noise characteristics of the analog-digitalconversion process is embodied as a method including the step of varyingthe clocking rate of the analog to digital converter (ADC). Theclock-rate varying step may be performed stepwise or continuously. Inone embodiment of this process, the clock rate is adjusted to optimizethe calculated proximity of a given signal. The inventors havediscovered that optimizing the ADC clock rate in this manner provides amore stable detection signal for passive locating. In particular, forlower frequencies, smoothly and adaptively reducing the ADC clockingrate should yield gradually slower response times but with graduallynarrower filter widths, and hence improved SNR, which is of particularvalue in a noisy environment.

In FIGS. 14A, 14B and 14C, this ADC clock rate adjustment method isillustrated graphically. In FIG. 14A, the filter frequency responses arenormalized to a fraction of the Nyquist rate (determined by the ADCsampling clock rate). FIGS. 14B and 14C show the filter frequencyresponses for two different Nyquist rates. FIG. 14B shows a filterfrequency response with a bandwidth of 10 kHz for a Nyquist value of 40kHz, and FIG. 14C shows a filter frequency response with a bandwidth of5 kHz for a Nyquist value of 20 kHz.

Clearly, other embodiments and modifications of this invention may occurreadily to those of ordinary skill in the art in view of theseteachings. Therefore, this invention is to be limited only by thefollowing claims and their equivalents, which include all suchembodiments and modifications when viewed in conjunction with the abovespecification and accompanying drawings.

We claim:
 1. A buried utility locator device, comprising: a magneticfield antenna array for simultaneously detecting magnetic field signalsemitted from a first buried utility and a second, separate, buriedutility and providing corresponding output signals; an electroniccircuit operatively coupled to the magnetic field antenna array forreceiving and processing the magnetic field antenna array output signalsand simultaneously generating output signals associated with each of thefirst buried utility and the second buried utility; a processor forreceiving the output signals and determining information associated withthe first and second buried utilities based at least in part on theprocessed magnetic field antenna output signals; and a non-transitorymemory for storing the determined information.
 2. The locator device ofclaim 1, further including a display for providing a visual output ofthe determined information associated with the buried objectssimultaneously.
 3. The locator device of claim 2, wherein the displaycomprises an LCD or LED panel display.
 4. The locator device of claim 1,further including an enclosure for housing an electrical circuit,wherein the enclosure has separate gradient coils disposed on oppositesides of the enclosure for detecting a magnetic field gradient betweenthe coils, wherein detecting the magnetic field gradient between thecoils comprises determining the difference between the magnetic fieldgradient detected at each of the separate gradient coils.
 5. The locatordevice of claim 4, wherein the gradient coils of the locator are used inconjunction with the antenna array signals to provide a basis forcomputing a proximity and depth of a detected buried utility.
 6. Thelocator device of claim 1, wherein processing the magnetic field antennaarray output signals further includes determining signal quality,wherein signal quality includes signal strength and reliability.
 7. Thelocator device of claim 6, further including an adjustable variable-timebandpass filter coupled to the output signals to provide adjustment of afilter time-constant responsive to the determined signal quality.
 8. Amethod for locating a buried utility, comprising: detecting magneticfield signals emitted from a first buried utility and simultaneouslydetecting magnetic field signals from a second separate buried utilityusing a magnetic field antenna array; providing corresponding outputsignals from the detected first and second buried utility signals;receiving and processing the magnetic field antenna array output signalsand simultaneously generating output signals associated with each of thefirst buried utility and the second buried utility using an electroniccircuit operatively coupled to the magnetic field antenna array;receiving the output signals and determining information associated withthe first and second buried utilities based at least in part on theprocessed magnetic field antenna output signals using an electroniccircuit including a processor; and storing the determined informationusing a non-transitory memory.
 9. The method of claim 8, furtherincluding providing to a display a visual output of the determinedinformation associated with the buried objects simultaneously.
 10. Themethod of claim 8, wherein the display comprises an LCD or LED paneldisplay.
 11. The method of claim 8, further including detecting amagnetic field gradient between the coils using separate gradient coils,wherein detecting the magnetic field gradient between the coilscomprises determining the difference between the magnetic field gradientdetected at each of the separate gradient coils.
 12. The method of claim8, computing a proximity and depth of a detected buried utility.
 13. Themethod of claim 8, filtering the output signals to provide adjustment ofa filter time-constant responsive to the determined signal quality,wherein signal quality includes signal strength and reliability.
 14. Aburied utility locator device, comprising: a magnetic field antennaarray for simultaneously detecting magnetic field signals emitted from afirst buried utility and a second, separate, buried utility andproviding corresponding output signals; an electronic circuitoperatively coupled to the magnetic field antenna array for receivingand processing the magnetic field antenna array output signals andsimultaneously generating output signals associated with each of thefirst buried utility and the second buried utility; a processor forreceiving the output signals and determining information associated withthe first and second buried utilities based at least in part on theprocessed magnetic field antenna output signals; a non-transitory memoryfor storing the determined information; a display for providing a visualoutput of the determined information associated with the buried objectssimultaneously, wherein the display comprises an LCD or LED paneldisplay; and an enclosure for housing an electrical circuit, wherein theenclosure has separate gradient coils disposed on opposite sides of theenclosure for detecting a magnetic field gradient between the coils,wherein detecting the magnetic field gradient between the coilscomprises determining the difference between the magnetic field gradientdetected at each of the separate gradient coils, wherein the gradientcoils of the locator are used in conjunction with the antenna arraysignals to provide a basis for computing a proximity and depth of adetected buried utility.
 15. The locator device of claim 14, whereinprocessing the magnetic field antenna array output signals furtherincludes determining signal quality, wherein signal quality includessignal strength and reliability; and further including an adjustablevariable-time bandpass filter coupled to the output signals to provideadjustment of a filter time-constant responsive to the determined signalquality.
 16. A method for locating a buried utility, comprising:detecting magnetic field signals emitted from a first buried utility andsimultaneously detecting magnetic field signals from a second separateburied utility using a magnetic field antenna array; providingcorresponding output signals from the detected first and second buriedutility signals; receiving and processing the magnetic field antennaarray output signals and simultaneously generating output signalsassociated with each of the first buried utility and the second buriedutility using an electronic circuit operatively coupled to the magneticfield antenna array; receiving the output signals and determininginformation associated with the first and second buried utilities basedat least in part on the processed magnetic field antenna output signalsusing an electronic circuit including a processor; storing thedetermined information using a non-transitory memory; providing to adisplay a visual output of the determined information associated withthe buried objects simultaneously, wherein the display comprises an LCDor LED panel display; detecting a magnetic field gradient between thecoils using separate gradient coils, wherein detecting the magneticfield gradient between the coils comprises determining the differencebetween the magnetic field gradient detected at each of the separategradient coils; computing a proximity and depth of a detected buriedutility; and filtering the output signals to provide adjustment of afilter time-constant responsive to the determined signal quality,wherein signal quality includes signal strength and reliability.